OpenRaiser/Intern-Atlas huggingface dataset:
Cooperative Positioning for Sparsely Distributed High-Mobility Wireless Networks with EKF Based Spatio-Temporal Data Fusion
Venue: arXiv cs.NI 2023
Year: 2023

We propose a distributed cooperative positioning algorithm using the extended Kalman filter (EKF) based spatio-temporal data fusion (STDF) for a wireless network composed of sparsely distributed high-mobility nodes. Our algorithm first makes a coarse estimation of the position and mobility state of the nodes by using the prediction step of EKF. Then it utilizes the coarse estimate as the prior of STDF that relies on factor graph (FG), thus facilitates inferring a posteriori distributions of the agents' positions in a distributed manner. We approximate the nonlinear terms of the messages passed on the associated FG with high precision by exploiting the second-order Taylor polynomial and obtain closed-form representations of each message in the data fusion step, where temporal measurements by imperfect hardware are considered additionally. In the third stage, refinement of position estimate is performed by invoking the update step of EKF. Simulation results and analysis show that our EKF-STDF has a lower computational complexity than the state-of-the-art EKF-based algorithms, while achieving an even superior positioning performance in harsh environment.
ViT2EEG: Leveraging Hybrid Pretrained Vision Transformers for EEG Data
Venue: arXiv cs.CV 2023
Year: 2023

In this study, we demonstrate the application of a hybrid Vision Transformer (ViT) model, pretrained on ImageNet, on an electroencephalogram (EEG) regression task. Despite being originally trained for image classification tasks, when fine-tuned on EEG data, this model shows a notable increase in performance compared to other models, including an identical architecture ViT trained without the ImageNet weights. This discovery challenges the traditional understanding of model generalization, suggesting that Transformer models pretrained on seemingly unrelated image data can provide valuable priors for EEG regression tasks with an appropriate fine-tuning pipeline. The success of this approach suggests that the features extracted by ViT models in the context of visual tasks can be readily transformed for the purpose of EEG predictive modeling. We recommend utilizing this methodology not only in neuroscience and related fields, but generally for any task where data collection is limited by practical, financial, or ethical constraints. Our results illuminate the potential of pretrained models on tasks that are clearly distinct from their original purpose.
Computation Offloading with Multiple Agents in Edge-Computing-Supported IoT
Venue: arXiv cs.DC 2023
Year: 2023

With the development of the Internet of Things (IoT) and the birth of various new IoT devices, the capacity of massive IoT devices is facing challenges. Fortunately, edge computing can optimize problems such as delay and connectivity by offloading part of the computational tasks to edge nodes close to the data source. Using this feature, IoT devices can save more resources while still maintaining the quality of service. However, since computation offloading decisions concern joint and complex resource management, we use multiple Deep Reinforcement Learning (DRL) agents deployed on IoT devices to guide their own decisions. Besides, Federated Learning (FL) is utilized to train DRL agents in a distributed fashion, aiming to make the DRL-based decision making practical and further decrease the transmission cost between IoT devices and Edge Nodes. In this article, we first study the problem of computation offloading optimization and prove the problem is an NP-hard problem. Then, based on DRL and FL, we propose an offloading algorithm that is different from the traditional method. Finally, we studied the effects of various parameters on the performance of the algorithm and verified the effectiveness of both the DRL and FL in the IoT system.
A many-sorted epistemic logic for chromatic hypergraphs
Venue: arXiv cs.LO 2023
Year: 2023

We propose a many-sorted modal logic for reasoning about knowledge in multi-agent systems. Our logic introduces a clear distinction between participating agents and the environment. This allows to express local properties of agents and global properties of worlds in a uniform way, as well as to talk about the presence or absence of agents in a world. The logic subsumes the standard epistemic logic and is a conservative extension of it. The semantics is given in chromatic hypergraphs, a generalization of chromatic simplicial complexes, which were recently used to model knowledge in distributed systems. We show that the logic is sound and complete with respect to the intended semantics. We also show a further connection of chromatic hypergraphs with neighborhood frames.
Explainable Graph Spectral Clustering of Text Documents
Venue: arXiv cs.LG 2023
Year: 2023

Spectral clustering methods are known for their ability to represent clusters of diverse shapes, densities etc. However, results of such algorithms, when applied e.g. to text documents, are hard to explain to the user, especially due to embedding in the spectral space which has no obvious relation to document contents. Therefore there is an urgent need to elaborate methods for explaining the outcome of the clustering. This paper presents a contribution towards this goal. We present a proposal of explanation of results of combinatorial Laplacian based graph spectral clustering. It is based on showing (approximate) equivalence of combinatorial Laplacian embedding, $K$-embedding (proposed in this paper) and term vector space embedding. Hence a bridge is constructed between the textual contents and the clustering results. We provide theoretical background for this approach. We performed experimental study showing that $K$-embedding approximates well Laplacian embedding under favourable block matrix conditions and show that approximation is good enough under other conditions.
Understanding URDF: A Dataset and Analysis
Venue: arXiv cs.RO 2023
Year: 2023

As the complexity of robot systems increases, it becomes more effective to simulate them before deployment. To do this, a model of the robot's kinematics or dynamics is required, and the most commonly used format is the Unified Robot Description Format (URDF). This article presents, to our knowledge, the first dataset of URDF files from various industrial and research organizations, with metadata describing each robot, its type, manufacturer, and the source of the model. The dataset contains 322 URDF files of which 195 are unique robot models, meaning the excess URDFs are either of a robot that is multiply defined across sources or URDF variants of the same robot. We analyze the files in the dataset, where we, among other things, provide information on how they were generated, which mesh file types are most commonly used, and compare models of multiply defined robots. The intention of this article is to build a foundation of knowledge on URDF and how it is used based on publicly available URDF files. Publishing the dataset, analysis, and the scripts and tools used enables others using, researching or developing URDFs to easily access this data and use it in their own work.
SF-IDS: An Imbalanced Semi-Supervised Learning Framework for Fine-grained Intrusion Detection
Venue: arXiv cs.CR 2023
Year: 2023

Deep learning-based fine-grained network intrusion detection systems (NIDS) enable different attacks to be responded to in a fast and targeted manner with the help of large-scale labels. However, the cost of labeling causes insufficient labeled samples. Also, the real fine-grained traffic shows a long-tailed distribution with great class imbalance. These two problems often appear simultaneously, posing serious challenges to fine-grained NIDS. In this work, we propose a novel semi-supervised fine-grained intrusion detection framework, SF-IDS, to achieve attack classification in the label-limited and highly class imbalanced case. We design a self-training backbone model called RI-1DCNN to boost the feature extraction by reconstructing the input samples into a multichannel image format. The uncertainty of the generated pseudo-labels is evaluated and used as a reference for pseudo-label filtering in combination with the prediction probability. To mitigate the effects of fine-grained class imbalance, we propose a hybrid loss function combining supervised contrastive loss and multi-weighted classification loss to obtain more compact intra-class features and clearer inter-class intervals. Experiments show that the proposed SF-IDS achieves 3.01% and 2.71% Marco-F1 improvement on two classical datasets with 1% labeled, respectively.
On the Performance Tradeoff of an ISAC System with Finite Blocklength
Venue: arXiv cs.IT 2023
Year: 2023

Integrated sensing and communication (ISAC) has been proposed as a promising paradigm in the future wireless networks, where the spectral and hardware resources are shared to provide a considerable performance gain. It is essential to understand how sensing and communication (S\&C) influences each other to guide the practical algorithm and system design in ISAC. In this paper, we investigate the performance tradeoff between S\&C in a single-input single-output (SISO) ISAC system with finite blocklength. In particular, we present the system model and the ISAC scheme, after which the rate-error tradeoff is introduced as the performance metric. Then we derive the achievability and converse bounds for the rate-error tradeoff, determining the boundary of the joint S\&C performance. Furthermore, we develop the asymptotic analysis at large blocklength regime, where the performance tradeoff between S\&C is proved to vanish as the blocklength tends to infinity. Finally, our theoretical analysis is consolidated by simulation results.
Relation-Aware Distribution Representation Network for Person Clustering with Multiple Modalities
Venue: arXiv cs.CV 2023
Year: 2023

Person clustering with multi-modal clues, including faces, bodies, and voices, is critical for various tasks, such as movie parsing and identity-based movie editing. Related methods such as multi-view clustering mainly project multi-modal features into a joint feature space. However, multi-modal clue features are usually rather weakly correlated due to the semantic gap from the modality-specific uniqueness. As a result, these methods are not suitable for person clustering. In this paper, we propose a Relation-Aware Distribution representation Network (RAD-Net) to generate a distribution representation for multi-modal clues. The distribution representation of a clue is a vector consisting of the relation between this clue and all other clues from all modalities, thus being modality agnostic and good for person clustering. Accordingly, we introduce a graph-based method to construct distribution representation and employ a cyclic update policy to refine distribution representation progressively. Our method achieves substantial improvements of +6% and +8.2% in F-score on the Video Person-Clustering Dataset (VPCD) and VoxCeleb2 multi-view clustering dataset, respectively. Codes will be released publicly upon acceptance.
Active Learning in Genetic Programming: Guiding Efficient Data Collection for Symbolic Regression
Venue: arXiv cs.NE 2023
Year: 2023

This paper examines various methods of computing uncertainty and diversity for active learning in genetic programming. We found that the model population in genetic programming can be exploited to select informative training data points by using a model ensemble combined with an uncertainty metric. We explored several uncertainty metrics and found that differential entropy performed the best. We also compared two data diversity metrics and found that correlation as a diversity metric performs better than minimum Euclidean distance, although there are some drawbacks that prevent correlation from being used on all problems. Finally, we combined uncertainty and diversity using a Pareto optimization approach to allow both to be considered in a balanced way to guide the selection of informative and unique data points for training.
CodeBPE: Investigating Subtokenization Options for Large Language Model Pretraining on Source Code
Venue: arXiv cs.LG 2023
Year: 2023

Recent works have widely adopted large language model pretraining for source code, suggested source code-specific pretraining objectives and investigated the applicability of various Transformer-based language model architectures for source code. This work investigates another important aspect of such models, namely the effect of different subtokenization options, and aims at identifying most effective and length-efficient subtokenizations, taking into account code specifics. We propose subtokenziation that reduces average length by 17% without downstream performance drop, and show that a carefully chosen subtokenization may improve quality by 0.5-2%, possibly with some length increase.
AnyLoc: Towards Universal Visual Place Recognition
Venue: arXiv cs.CV 2023
Year: 2023

Visual Place Recognition (VPR) is vital for robot localization. To date, the most performant VPR approaches are environment- and task-specific: while they exhibit strong performance in structured environments (predominantly urban driving), their performance degrades severely in unstructured environments, rendering most approaches brittle to robust real-world deployment. In this work, we develop a universal solution to VPR -- a technique that works across a broad range of structured and unstructured environments (urban, outdoors, indoors, aerial, underwater, and subterranean environments) without any re-training or fine-tuning. We demonstrate that general-purpose feature representations derived from off-the-shelf self-supervised models with no VPR-specific training are the right substrate upon which to build such a universal VPR solution. Combining these derived features with unsupervised feature aggregation enables our suite of methods, AnyLoc, to achieve up to 4X significantly higher performance than existing approaches. We further obtain a 6% improvement in performance by characterizing the semantic properties of these features, uncovering unique domains which encapsulate datasets from similar environments. Our detailed experiments and analysis lay a foundation for building VPR solutions that may be deployed anywhere, anytime, and across anyview. We encourage the readers to explore our project page and interactive demos: https://anyloc.github.io/.
The Bias Amplification Paradox in Text-to-Image Generation
Venue: arXiv cs.LG 2023
Year: 2023

Bias amplification is a phenomenon in which models exacerbate biases or stereotypes present in the training data. In this paper, we study bias amplification in the text-to-image domain using Stable Diffusion by comparing gender ratios in training vs. generated images. We find that the model appears to amplify gender-occupation biases found in the training data (LAION) considerably. However, we discover that amplification can be largely attributed to discrepancies between training captions and model prompts. For example, an inherent difference is that captions from the training data often contain explicit gender information while our prompts do not, which leads to a distribution shift and consequently inflates bias measures. Once we account for distributional differences between texts used for training and generation when evaluating amplification, we observe that amplification decreases drastically. Our findings illustrate the challenges of comparing biases in models and their training data, and highlight confounding factors that impact analyses.
An Introduction to Bi-level Optimization: Foundations and Applications in Signal Processing and Machine Learning
Venue: arXiv cs.LG 2023
Year: 2023

Recently, bi-level optimization (BLO) has taken center stage in some very exciting developments in the area of signal processing (SP) and machine learning (ML). Roughly speaking, BLO is a classical optimization problem that involves two levels of hierarchy (i.e., upper and lower levels), wherein obtaining the solution to the upper-level problem requires solving the lower-level one. BLO has become popular largely because it is powerful in modeling problems in SP and ML, among others, that involve optimizing nested objective functions. Prominent applications of BLO range from resource allocation for wireless systems to adversarial machine learning. In this work, we focus on a class of tractable BLO problems that often appear in SP and ML applications. We provide an overview of some basic concepts of this class of BLO problems, such as their optimality conditions, standard algorithms (including their optimization principles and practical implementations), as well as how they can be leveraged to obtain state-of-the-art results for a number of key SP and ML applications. Further, we discuss some recent advances in BLO theory, its implications for applications, and point out some limitations of the state-of-the-art that require significant future research efforts. Overall, we hope that this article can serve to accelerate the adoption of BLO as a generic tool to model, analyze, and innovate on a wide array of emerging SP and ML applications.
Artificial Eye for the Blind
Venue: arXiv cs.CV 2023
Year: 2023

The main backbone of our Artificial Eye model is the Raspberry pi3 which is connected to the webcam ,ultrasonic proximity sensor, speaker and we also run all our software models i.e object detection, Optical Character recognition, google text to speech conversion and the Mycroft voice assistance model. At first the ultrasonic proximity sensor will be measuring the distance between itself and any obstacle in front of it .When the Proximity sensor detects any obstacle in front within its specified range, the blind person will hear an audio prompt about an obstacle in his way at a certain distance. At this time the Webcam will capture an image in front of it and the Object detection model and the Optical Character Recognition model will begin to run on the Raspberry pi. The imat of the blind person. The text and the object detected are conveyed to the blind pege captured is first sent through the Tesseract OCR module to detect any texts in the image and then through the Object detection model to detect the objects in fronrson by converting the texts to speech by using the gTTS module. Along with the above mentioned process going on there will be an active MYCROFT voice assistant model which can be used to interact with the blind person. The blind person can ask about the weather , daily news , any information on the internet ,etc
An Algorithm for the Longest Common Subsequence and Substring Problem
Venue: arXiv cs.DS 2023
Year: 2023

In this note, we first introduce a new problem called the longest common subsequence and substring problem. Let $X$ and $Y$ be two strings over an alphabet $Σ$. The longest common subsequence and substring problem for $X$ and $Y$ is to find the longest string which is a subsequence of $X$ and a substring of $Y$. We propose an algorithm to solve the problem.
QUANT: A Minimalist Interval Method for Time Series Classification
Venue: arXiv cs.LG 2023
Year: 2023

We show that it is possible to achieve the same accuracy, on average, as the most accurate existing interval methods for time series classification on a standard set of benchmark datasets using a single type of feature (quantiles), fixed intervals, and an 'off the shelf' classifier. This distillation of interval-based approaches represents a fast and accurate method for time series classification, achieving state-of-the-art accuracy on the expanded set of 142 datasets in the UCR archive with a total compute time (training and inference) of less than 15 minutes using a single CPU core.
Feature-aware conditional GAN for category text generation
Venue: arXiv cs.CL 2023
Year: 2023

Category text generation receives considerable attentions since it is beneficial for various natural language processing tasks. Recently, the generative adversarial network (GAN) has attained promising performance in text generation, attributed to its adversarial training process. However, there are several issues in text GANs, including discreteness, training instability, mode collapse, lack of diversity and controllability etc. To address these issues, this paper proposes a novel GAN framework, the feature-aware conditional GAN (FA-GAN), for controllable category text generation. In FA-GAN, the generator has a sequence-to-sequence structure for improving sentence diversity, which consists of three encoders including a special feature-aware encoder and a category-aware encoder, and one relational-memory-core-based decoder with the Gumbel SoftMax activation function. The discriminator has an additional category classification head. To generate sentences with specified categories, the multi-class classification loss is supplemented in the adversarial training. Comprehensive experiments have been conducted, and the results show that FA-GAN consistently outperforms 10 state-of-the-art text generation approaches on 6 text classification datasets. The case study demonstrates that the synthetic sentences generated by FA-GAN can match the required categories and are aware of the features of conditioned sentences, with good readability, fluency, and text authenticity.
Teaching Smaller Language Models To Generalise To Unseen Compositional Questions
Venue: arXiv cs.CL 2023
Year: 2023

We equip a smaller Language Model to generalise to answering challenging compositional questions that have not been seen in training. To do so we propose a combination of multitask supervised pretraining on up to 93 tasks designed to instill diverse reasoning abilities, and a dense retrieval system that aims to retrieve a set of evidential paragraph fragments. Recent progress in question-answering has been achieved either through prompting methods against very large pretrained Language Models in zero or few-shot fashion, or by fine-tuning smaller models, sometimes in conjunction with information retrieval. We focus on the less explored question of the extent to which zero-shot generalisation can be enabled in smaller models with retrieval against a corpus within which sufficient information to answer a particular question may not exist. We establish strong baselines in this setting for diverse evaluation datasets (StrategyQA, CommonsenseQA, IIRC, DROP, Musique and ARC-DA), and show that performance can be significantly improved by adding retrieval-augmented training datasets which are designed to expose our models to a variety of heuristic reasoning strategies such as weighing partial evidence or ignoring an irrelevant context.